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<h1>KatanaKinematics6M90T.h</h1> </div>
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<a href="KatanaKinematics6M90T_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/***************************************************************************</span>
<a name="l00002"></a>00002 <span class="comment"> * Copyright (C) 2006 by Tiziano Mueller *</span>
<a name="l00003"></a>00003 <span class="comment"> * tiziano.mueller@neuronics.ch *</span>
<a name="l00004"></a>00004 <span class="comment"> * *</span>
<a name="l00005"></a>00005 <span class="comment"> * This program is free software; you can redistribute it and/or modify *</span>
<a name="l00006"></a>00006 <span class="comment"> * it under the terms of the GNU General Public License as published by *</span>
<a name="l00007"></a>00007 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or *</span>
<a name="l00008"></a>00008 <span class="comment"> * (at your option) any later version. *</span>
<a name="l00009"></a>00009 <span class="comment"> * *</span>
<a name="l00010"></a>00010 <span class="comment"> * This program is distributed in the hope that it will be useful, *</span>
<a name="l00011"></a>00011 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of *</span>
<a name="l00012"></a>00012 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *</span>
<a name="l00013"></a>00013 <span class="comment"> * GNU General Public License for more details. *</span>
<a name="l00014"></a>00014 <span class="comment"> * *</span>
<a name="l00015"></a>00015 <span class="comment"> * You should have received a copy of the GNU General Public License *</span>
<a name="l00016"></a>00016 <span class="comment"> * along with this program; if not, write to the *</span>
<a name="l00017"></a>00017 <span class="comment"> * Free Software Foundation, Inc., *</span>
<a name="l00018"></a>00018 <span class="comment"> * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *</span>
<a name="l00019"></a>00019 <span class="comment"> ***************************************************************************/</span>
<a name="l00020"></a>00020 <span class="preprocessor">#ifndef KNIKatanaKinematics6M90T_H</span>
<a name="l00021"></a>00021 <span class="preprocessor"></span><span class="preprocessor">#define KNIKatanaKinematics6M90T_H</span>
<a name="l00022"></a>00022 <span class="preprocessor"></span>
<a name="l00023"></a>00023 <span class="preprocessor">#include "common/dllexport.h"</span>
<a name="l00024"></a>00024
<a name="l00025"></a>00025 <span class="preprocessor">#include "KNI_InvKin/KatanaKinematics.h"</span>
<a name="l00026"></a>00026 <span class="preprocessor">#include "KNI_InvKin/KatanaKinematicsDecisionAlgorithms.h"</span>
<a name="l00027"></a>00027
<a name="l00028"></a>00028 <span class="preprocessor">#include <vector></span>
<a name="l00029"></a>00029
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="keyword">namespace </span>KNI {
<a name="l00032"></a>00032
<a name="l00039"></a><a class="code" href="classKNI_1_1KatanaKinematics6M90T.html">00039</a> <span class="keyword">class </span><a class="code" href="dllexport_8h.html#a9a0b7df7fcfa890f10d12f281f25ecfa">DLLDIR_IK</a> <a class="code" href="classKNI_1_1KatanaKinematics6M90T.html">KatanaKinematics6M90T</a> : <span class="keyword">public</span> <a class="code" href="classKNI_1_1KatanaKinematics.html" title="The base class for all kinematic implementations.">KatanaKinematics</a> {
<a name="l00040"></a>00040
<a name="l00041"></a>00041 <span class="keyword">public</span>:
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="keywordtype">void</span> init(<a class="code" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9" title="To store metrics, &#39;aka&#39; the length&#39;s of the different segments of the robot...">metrics</a> <span class="keyword">const</span>& length, <a class="code" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a> <span class="keyword">const</span>& parameters);
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="comment">// strong guarantee provided here:</span>
<a name="l00046"></a>00046 <span class="keywordtype">void</span> DK(<a class="code" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9" title="To store coordinates.">coordinates</a>& solution, <a class="code" href="classKNI_1_1KatanaKinematics.html#a8a37a2257499ced0704365e46dc28f2b" title="To store encoders.">encoders</a> <span class="keyword">const</span>& current_encoders) <span class="keyword">const</span>;
<a name="l00047"></a>00047 <span class="keywordtype">void</span> IK(encoders::iterator solution, <a class="code" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9" title="To store coordinates.">coordinates</a> <span class="keyword">const</span>& pose, <a class="code" href="classKNI_1_1KatanaKinematics.html#a8a37a2257499ced0704365e46dc28f2b" title="To store encoders.">encoders</a> <span class="keyword">const</span>& cur_angles) <span class="keyword">const</span>;
<a name="l00048"></a>00048
<a name="l00049"></a>00049
<a name="l00050"></a>00050 <span class="keyword">private</span>:
<a name="l00051"></a>00051
<a name="l00052"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1position.html">00052</a> <span class="keyword">struct </span><a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1position.html">position</a> {
<a name="l00053"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1position.html#a57e1f3050630155fe1395b8c38d71e1f">00053</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1position.html#a57e1f3050630155fe1395b8c38d71e1f">x</a>;
<a name="l00054"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1position.html#ad8f39dbbb1f7b1c510daad803f05d5f9">00054</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1position.html#ad8f39dbbb1f7b1c510daad803f05d5f9">y</a>;
<a name="l00055"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1position.html#a20a2145380d21b0a7c9af3a198a79a71">00055</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1position.html#a20a2145380d21b0a7c9af3a198a79a71">z</a>;
<a name="l00056"></a>00056 };
<a name="l00057"></a>00057
<a name="l00058"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html">00058</a> <span class="keyword">struct </span><a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html">angles_calc</a> {
<a name="l00059"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#ad4694532485545b7c138bc082e42c643">00059</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#ad4694532485545b7c138bc082e42c643">theta1</a>;
<a name="l00060"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#a5f62e8b4267d05b5e3494c239d133018">00060</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#a5f62e8b4267d05b5e3494c239d133018">theta2</a>;
<a name="l00061"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#af1741197b8a8ce8ab25a9aede8ef41be">00061</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#af1741197b8a8ce8ab25a9aede8ef41be">theta3</a>;
<a name="l00062"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#a30defe68d04770f1ba85fb053f84cba9">00062</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#a30defe68d04770f1ba85fb053f84cba9">theta4</a>;
<a name="l00063"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#ac9b914b68eafaed92533c169dac9aa12">00063</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#ac9b914b68eafaed92533c169dac9aa12">theta5</a>;
<a name="l00064"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#a49e5d17567fa700392fd4d90ef728078">00064</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#a49e5d17567fa700392fd4d90ef728078">theta6</a>;
<a name="l00065"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#a2e5f6e177486624ae19d1cf779fe275f">00065</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#a2e5f6e177486624ae19d1cf779fe275f">theta234</a>;
<a name="l00066"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#af4fcf3f0897dd913809bb7cbf4166b46">00066</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#af4fcf3f0897dd913809bb7cbf4166b46">b1</a>;
<a name="l00067"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#a61cd5b0152e5d740b01765ef38420b68">00067</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#a61cd5b0152e5d740b01765ef38420b68">b2</a>;
<a name="l00068"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#aaa5feb56fbf880b4d7466528a5a1074b">00068</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html#aaa5feb56fbf880b4d7466528a5a1074b">costh3</a>;
<a name="l00069"></a>00069 };
<a name="l00070"></a>00070
<a name="l00071"></a><a class="code" href="classKNI_1_1KatanaKinematics6M90T.html#a6523031a60d093b90242f547876bffc3">00071</a> <span class="keyword">typedef</span> std::vector<angles_calc> <a class="code" href="classKNI_1_1KatanaKinematics6M90T.html#a6523031a60d093b90242f547876bffc3">angles_container</a>;
<a name="l00072"></a>00072
<a name="l00073"></a><a class="code" href="classKNI_1_1KatanaKinematics6M90T.html#af471da4d42eea60de96eb953b38d3bf9">00073</a> <a class="code" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9" title="To store metrics, &#39;aka&#39; the length&#39;s of the different segments of the robot...">metrics</a> <a class="code" href="classKNI_1_1KatanaKinematics6M90T.html#af471da4d42eea60de96eb953b38d3bf9">_length</a>;
<a name="l00074"></a><a class="code" href="classKNI_1_1KatanaKinematics6M90T.html#a2ee8de7a7716d229bfac1ad30eb4ebd3">00074</a> <a class="code" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a> <a class="code" href="classKNI_1_1KatanaKinematics6M90T.html#a2ee8de7a7716d229bfac1ad30eb4ebd3">_parameters</a>;
<a name="l00075"></a>00075
<a name="l00076"></a><a class="code" href="classKNI_1_1KatanaKinematics6M90T.html#aa2969143ad573ceb471b2cdd90f8fb8a">00076</a> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classKNI_1_1KatanaKinematics6M90T.html#aa2969143ad573ceb471b2cdd90f8fb8a">_tolerance</a>; <span class="comment">// initialized in .cpp</span>
<a name="l00077"></a><a class="code" href="classKNI_1_1KatanaKinematics6M90T.html#a53fcaaa9de3769f51e87be392e7e3a6c">00077</a> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classKNI_1_1KatanaKinematics6M90T.html#a53fcaaa9de3769f51e87be392e7e3a6c">_nrOfPossibleSolutions</a>;
<a name="l00078"></a>00078
<a name="l00079"></a><a class="code" href="classKNI_1_1KatanaKinematics6M90T.html#ab25102503a9d18938b5d02be1a76e222">00079</a> <span class="keywordtype">void</span> <a class="code" href="classKNI_1_1KatanaKinematics6M90T.html#ab25102503a9d18938b5d02be1a76e222">_setLength</a>(<a class="code" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9" title="To store metrics, &#39;aka&#39; the length&#39;s of the different segments of the robot...">metrics</a> <span class="keyword">const</span>& length) { _length = length; }
<a name="l00080"></a><a class="code" href="classKNI_1_1KatanaKinematics6M90T.html#a281f2823ad661a3d16cb579f2434ca9a">00080</a> <span class="keywordtype">void</span> <a class="code" href="classKNI_1_1KatanaKinematics6M90T.html#a281f2823ad661a3d16cb579f2434ca9a">_setParameters</a>(<a class="code" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a> <span class="keyword">const</span>& parameters) { _parameters = parameters; }
<a name="l00081"></a>00081
<a name="l00082"></a>00082 <span class="keywordtype">void</span> IK_theta234theta5(angles_calc& angle, <span class="keyword">const</span> position &p_gr) <span class="keyword">const</span>;
<a name="l00083"></a>00083 <span class="keywordtype">void</span> IK_b1b2costh3_6MS(angles_calc &a, <span class="keyword">const</span> position &p) <span class="keyword">const</span>;
<a name="l00084"></a>00084
<a name="l00085"></a>00085 <span class="keywordtype">void</span> thetacomp(angles_calc &a, <span class="keyword">const</span> position &p_m, <span class="keyword">const</span> coordinates& pose) <span class="keyword">const</span>;
<a name="l00086"></a>00086
<a name="l00087"></a>00087 <span class="keywordtype">bool</span> angledef(angles_calc &a) <span class="keyword">const</span>;
<a name="l00088"></a>00088
<a name="l00089"></a>00089 <span class="keywordtype">bool</span> GripperTest(<span class="keyword">const</span> position &p_gr, <span class="keyword">const</span> angles_calc &angle) <span class="keyword">const</span>;
<a name="l00090"></a>00090 <span class="keywordtype">bool</span> AnglePositionTest(<span class="keyword">const</span> angles_calc &a) <span class="keyword">const</span>;
<a name="l00091"></a>00091 <span class="keywordtype">bool</span> PositionTest6MS(<span class="keyword">const</span> <span class="keywordtype">double</span>& theta1, <span class="keyword">const</span> <span class="keywordtype">double</span>& theta2, <span class="keyword">const</span> <span class="keywordtype">double</span>& theta3, <span class="keyword">const</span> <span class="keywordtype">double</span>& theta234, <span class="keyword">const</span> position &p) <span class="keyword">const</span>;
<a name="l00092"></a>00092
<a name="l00093"></a>00093 <span class="keywordtype">double</span> <a class="code" href="namespaceKNI__MHF.html#abae2c20b6da9322319c82d64724eb163" title="Find the first equal angle.">findFirstEqualAngle</a>(<span class="keyword">const</span> angles& v1, <span class="keyword">const</span> angles& v2) <span class="keyword">const</span>;
<a name="l00094"></a>00094
<a name="l00095"></a>00095 };
<a name="l00096"></a>00096
<a name="l00097"></a>00097
<a name="l00098"></a>00098
<a name="l00099"></a>00099
<a name="l00100"></a>00100
<a name="l00101"></a>00101 }
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="preprocessor">#endif</span>
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